5 papers · 1 filter
VirTooS: A ROS 2 - Unity Virtualization Toolkit for Fleet Management of Autonomous Mobile Robots
Andrea Drudi, Lorenzo Pichierri, Andrea Testa +1
In this paper, we present VirTooS, a Python/C# toolkit designed to implement fleet-management tasks on teams of Autonomous Mobile Robots (AMRs). VirTooS leverages the Robot Operati…
MROPE: A Multi-Robot Safe Cooperative Strategy via combined Predictive Safety Filters and Ellipse-based Constraint Compression
Alice Rosetti, Lorenzo Pichierri, Domenico Cappello +2
Deploying drone swarms to track a dynamic target in cluttered environments presents severe computational and safety challenges. We propose MROPE, a hierarchical strategy that decou…
Multi-Robot Target Monitoring and Encirclement via Triggered Distributed Feedback Optimization
Lorenzo Pichierri, Guido Carnevale, Lorenzo Sforni +1
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and…
A Distributed Online Optimization Strategy for Cooperative Robotic Surveillance
Lorenzo Pichierri, Guido Carnevale, Lorenzo Sforni +2
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of…
CrazyChoir: Flying Swarms of Crazyflie Quadrotors in ROS 2
Lorenzo Pichierri, Andrea Testa, Giuseppe Notarstefano
This paper introduces CrazyChoir, a modular Python framework based on the Robot Operating System (ROS) 2. The toolbox provides a comprehensive set of functionalities to simulate an…